1688美元搞定双臂机器人，自研软件补足性能短板
Nori A3: A Bimanual Mobile Manipulator at the Appliance Price Point
- 用低成本硬件搭配自研软件，实现双臂移动操作
- 19自由度双臂可达145厘米，支持1.5公斤负载与激光导航
- 适合预算有限的工业应用与科研入门者
我们介绍Nori A3，一款19自由度的双臂移动机器人，组装完成售价1688美元。在20.4公斤、45×45厘米的占地面积内，三段式伸缩柱可将头部与双臂从69厘米升至145厘米，实现从地面到台面的全范围作业；每条55厘米长的臂具7+1自由度和1.5公斤负载能力，配备激光雷达导航与四摄像头。其零件成本仅为同类研究平台的约五分之一。通过软件而非昂贵硬件弥补性能缺失：保护架构防止通用串行总线伺服电机过热烧毁，通过双层互锁机制抑制温升；无传感器力反馈通道从伺服电流寄存器中恢复连续力估计。A3自2026年7月起已向客户发货，本文详述设计思路与关节驱动选型。
原文摘要 · Abstract (English)
We present Nori A3, a 19-DoF bimanual mobile manipulator that ships assembled for $1,688. In a 45 x 45 cm footprint at 20.4 kg, a three-stage telescoping column carries the head and both arms from 69 cm to 145 cm in height, giving floor-to-counter reach; each 55 cm arm has 7+1 DoF and a 1.5 kg payload, alongside lidar navigation and four cameras. This is roughly a fifth of the parts cost of the cheapest comparable research platform. The capabilities usually lost at this price are recovered in software rather than by buying more expensive parts. A protection architecture eliminates the thermal burn-out of commodity serial-bus servos, attacking both the stall conditions that cause it and, through a two-tier interlock, the temperature rise itself. A sensorless grip-force channel recovers a continuous force estimate from the servo's own current register. A3 has been shipping to customers since July 2026; we give the design rationale and the per-joint actuator selection.
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